CN118534929B - Spacecraft autonomous orbit control method and device taking measurement and control into consideration - Google Patents
Spacecraft autonomous orbit control method and device taking measurement and control into consideration Download PDFInfo
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Abstract
The invention relates to the technical field of spacecraft control, in particular to a spacecraft autonomous orbit control method and device taking measurement and control into consideration. The method comprises the following steps: acquiring an upper track injection control instruction and an average track inclination angle of a current spacecraft; the upper track injection control instruction comprises the height of a target track, the longitude and latitude of a measurement and control station and the longest waiting time of a track control head pulse; calculating a orbit latitude amplitude angle corresponding to the measurement and control station according to the longitude and latitude of the measurement and control station and the orbit average inclination angle; determining a first pulse execution middle point of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude angle and the current position and speed of the spacecraft; and calculating the double-pulse execution starting time of the spacecraft based on the first pulse execution middle point so as to enable the spacecraft to autonomously orbit from the current orbit to the target orbit. According to the scheme, the orbit control task of the spacecraft can be automatically completed, and the ground monitoring requirement can be guaranteed.
Description
Technical Field
The embodiment of the invention relates to the technical field of spacecraft control, in particular to a spacecraft autonomous orbit control method and device taking measurement and control into consideration.
Background
The spacecraft is required to have fast response, high autonomy and high precision orbital maneuver capability facing to a series of complex tasks such as future on-orbit service, strategic support and the like. Therefore, the ability to have autonomous orbit maneuver is a great trend in the development of the GNC system of spacecraft. At present, an autonomous orbit control method is widely studied, but if the requirement of good ground measurement and control monitoring cannot be guaranteed, the method cannot be truly practiced in engineering, so that the technical development of various autonomous orbit control methods of new-generation spacecrafts is severely restricted.
In the related art, a series of solutions are proposed for the constraint of ground monitoring on the track control task. For example, chinese patent application publication No. CN115230995A provides an autonomous orbit control method based on ground terminal assistance in a giant constellation, and an apparatus and a process thereof, which implement autonomous orbit control of satellites by using a large amount of ground terminal monitoring with low cost and orbit control assistance capability; for example, chinese patent application publication No. CN114162348a provides a method, apparatus, satellite and gateway station for autonomous orbit control of a satellite, which ensures ground monitoring by establishing an inter-satellite communication link with at least one adjacent satellite when the autonomous orbit control is determined to be activated. However, the above method does not consider measurement and control constraints from the beginning of autonomous orbit control strategy planning, so that the ground measurement and control requirements cannot be well met.
Therefore, it is needed to provide a spacecraft autonomous orbit control method and device with both measurement and control.
Disclosure of Invention
In order to solve the problem that the traditional autonomous orbit control method cannot better meet the ground measurement and control requirements, the embodiment of the invention provides a spacecraft autonomous orbit control method and device taking measurement and control into consideration.
In a first aspect, an embodiment of the present invention provides a spacecraft autonomous orbit control method that gives consideration to measurement and control, where the method includes:
acquiring an upper track injection control instruction and an average track inclination angle of a current spacecraft; the upper track injection control instruction comprises the height of a target track, the longitude and latitude of a measurement and control station and the longest waiting time of a track control head pulse;
Calculating a orbit latitude amplitude angle corresponding to the measurement and control station according to the longitude and latitude of the measurement and control station and the orbit average inclination angle;
Determining a first pulse execution middle point of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude angle and the current position and speed of the spacecraft;
And calculating the double-pulse execution starting time of the spacecraft based on the initial pulse execution middle point so as to enable the spacecraft to autonomously orbit from the current orbit to the target orbit.
In a second aspect, the embodiment of the invention also provides a spacecraft autonomous orbit control device taking measurement and control into consideration, which comprises:
The acquisition unit is used for acquiring the upper track injection control instruction and the current track average inclination angle of the spacecraft; the upper track injection control instruction comprises the height of a target track, the longitude and latitude of a measurement and control station and the longest waiting time of a track control head pulse;
The first calculation unit is used for calculating a corresponding orbit latitude amplitude angle when the measurement and control station is in use according to the longitude and latitude of the measurement and control station and the orbit average inclination angle;
The determining unit is used for determining a first pulse execution middle point of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude angle and the current position and speed of the spacecraft;
and the second calculation unit is used for calculating the double-pulse execution starting time of the spacecraft based on the initial pulse execution middle point so as to enable the spacecraft to autonomously orbit from the current orbit to the target orbit.
In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor, where the memory stores a computer program, and the processor implements a method according to any embodiment of the present specification when executing the computer program.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform a method according to any of the embodiments of the present specification.
In another aspect, embodiments of the present application also provide a computer program product comprising a computer program, the computer program being read from a computer readable storage medium by a processor of a computer device, the computer program being executed by the processor, causing the computer device to perform the method of any of the above embodiments.
In another aspect, embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method described above.
The embodiment of the invention provides a spacecraft autonomous orbit control method and device taking measurement and control into consideration, wherein the measurement and control requirements are considered when an orbit control strategy is planned, firstly, the geographical position of a desired measurement and control area and the longest waiting time of orbit control first pulse are annotated on the ground, then software on the spacecraft can calculate the orbit latitude amplitude angle corresponding to the measurement and control area according to the geographical position of the measurement and control area and the average inclination angle of the current orbit of the spacecraft, and the longest waiting time of the orbit control first pulse, the current position and the current speed of the spacecraft are combined on the basis to determine the first pulse execution middle point of the spacecraft, and finally, the double pulse execution starting time which is most beneficial to measurement and control conditions can be autonomously calculated according to the first pulse execution middle point; therefore, the spacecraft not only has autonomy of completing the orbit control task, but also can ensure that the ground has good observation conditions during orbit control ignition, thereby providing safety guarantee for verification and monitoring of new technology of a new platform.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a spacecraft autonomous orbit control method with measurement and control compromise according to an embodiment of the invention;
FIG. 2 is a hardware architecture diagram of a computing device according to one embodiment of the present invention;
FIG. 3 is a block diagram of a spacecraft autonomous orbit control device with measurement and control according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As described above, the orbit control process of the spacecraft often requires that the orbit control engine with high thrust be started to generate continuous thrust for a long time, and is a key action of the spacecraft which is very easy to generate faults from the aspects of fuel safety or stable operation of the spacecraft. Therefore, when an autonomous orbit control task is executed, the ground technicians pay high attention to the orbit control process, and the requirements on ground measurement and control monitoring and guaranteeing are strong; however, the satellite autonomous orbit control method in the related art does not consider the ground measurement and control requirement at the beginning of the autonomous orbit control strategy planning, and cannot better meet the ground measurement and control requirement.
In order to solve the problems, the inventor designs an autonomous orbit control method of a spacecraft, aiming at the characteristics of a nearly circular orbit, which considers the measurement and control requirements when planning an orbit control strategy according to the longitude and latitude of a space base or a foundation measurement and control station through which an orbit control first pulse is expected to pass on the ground, and enables the spacecraft to autonomously select the orbit control first pulse moment which is most beneficial to the measurement and control conditions while considering the orbit control target, thereby enabling the orbit control task to be completed autonomously and ensuring the ground monitoring requirements.
Specific implementations of the above concepts are described below.
Referring to fig. 1, an embodiment of the present invention provides a spacecraft autonomous orbit control method with measurement and control compromise, which includes:
Step 100, acquiring an upper track injection control instruction and an average track inclination angle of a spacecraft; the upper track injection control instruction comprises the height of a target track, the longitude and latitude of a measurement and control station and the longest waiting time of a track control head pulse;
102, calculating a orbit latitude amplitude angle corresponding to the measurement and control station according to the longitude and latitude of the measurement and control station and the orbit average inclination angle;
104, determining a first pulse execution middle point of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude angle, the current position and the current speed of the spacecraft;
and 106, calculating the double-pulse execution starting time of the spacecraft based on the first pulse execution middle point so as to enable the spacecraft to autonomously orbit from the current orbit to the target orbit.
In the embodiment of the invention, the measurement and control requirements are considered when the orbit control strategy is planned, firstly, the geographical position of a desired measurement and control area and the longest waiting time of the orbit control first pulse are injected on the ground, then, the software on the spacecraft can calculate the orbit latitude amplitude angle corresponding to the measurement and control station according to the geographical position of the measurement and control area and the average orbit inclination angle of the current orbit of the spacecraft, and on the basis, the longest waiting time of the orbit control first pulse, the current position and the speed of the spacecraft are combined to determine the first pulse execution middle point of the spacecraft, and finally, the double pulse execution starting time which is most beneficial to the measurement and control conditions can be autonomously calculated according to the first pulse execution middle point; therefore, the spacecraft not only has autonomy of completing the orbit control task, but also can ensure that the ground has good observation conditions during orbit control ignition, thereby providing safety guarantee for verification and monitoring of new technology of a new platform.
For step 100:
In the embodiment of the invention, when the orbit control command is injected into the spacecraft on the ground, the related parameters of the target orbit, the geographic longitude and the geographic latitude of the measurement and control station and the longest waiting time of the first orbit control pulse are taken as measurement and control constraint conditions to be injected into the software on the spacecraft on the ground, so that the on-board computer can carry out orbit control strategy planning according to the measurement and control constraint conditions, and the autonomous orbit transfer is realized under the condition of meeting the ground measurement and control requirement.
For step 102:
In some embodiments, step 102 comprises:
calculating the corresponding geocentric latitude according to the latitude of the measurement and control station;
and calculating a orbit latitude amplitude angle corresponding to the latitude of the measurement and control station based on the geocentric latitude and the orbit average inclination angle.
In the embodiment of the invention, before the on-board computer performs the autonomous orbit control, the on-board computer needs to determine the corresponding orbit latitude amplitude angle when the spacecraft passes through the geographical latitude where the measurement and control station is positioned according to the latitude of the measurement and control station in the orbit control instruction and the orbit average inclination angle described by the current spacecraft, so that the ignition orbit latitude amplitude angle of the spacecraft which is beneficial to the ground measurement and control requirement can be determined in one orbit period.
In some specific embodiments, the geocentric latitude is calculated by the following formula:
in the method, in the process of the invention, For the geocentric latitude, f is the orbit argument,The latitude of the measurement and control station is;
the orbit latitude amplitude angle is calculated by the following formula:
in the method, in the process of the invention, For the orbital latitude argument,And (5) the average inclination angle of the track.
For step 104:
in some embodiments, step 104 comprises:
performing numerical recurrence on a brakable orbit of the spacecraft within the longest waiting time of the orbit control head pulse according to the current position and the speed of the spacecraft;
According to the numerical recurrence result, taking the corresponding moment and the track position of the spacecraft when passing through the track latitude amplitude angle corresponding to the measurement and control station each time as the alternative track changing moment and the alternative track changing position;
And calculating the observation elevation angles of the measurement and control station and each alternative orbit change position according to the longitude and latitude of the measurement and control station, and respectively determining the alternative orbit change position corresponding to the observation elevation angle closest to 90 degrees and the alternative orbit change time corresponding to the alternative orbit change position as a first pulse execution position and a first pulse execution time middle point of the spacecraft.
In the embodiment of the invention, the current orbit control head pulse needs to be executed within the longest waiting time Tmax of the orbit control head pulse, the current moment is recorded as 0 moment, the current orbit epoch is used as an initial state, and the current position and the speed of the spacecraft are used for carrying out numerical recurrence on the brakable orbit of the spacecraft until the longest waiting time of the orbit control head pulse. The numerical recurrence of the braked track can be performed specifically according to the differential equation:
Wherein: Is a position vector of the spacecraft, ，The result of the second derivative is found for the position vector of the spacecraft,，A motion acceleration vector caused by the earth attraction place;
Assuming that the maximum waiting time Tmax from the current moment to the orbit control first pulse comprises N orbit periods, recording orbit latitude amplitude angles when a spacecraft passes through a measurement and control station each time in the recursion process Time corresponding to timeAnd corresponding track positionsAnd will take this timeAnd the track positionRespectively serving as an alternative track change time and an alternative track change position;
then, the observation elevation angles of the measurement and control station and each alternative orbit position are calculated according to the longitude and latitude of the measurement and control station, and a plurality of observation elevation angles are obtained Finally, selecting the observation elevation angle closest to 90 DEGAnd observe the elevation angleCorresponding track positionAnd the corresponding timeThe first pulse execution position and the first pulse execution time middle point of the spacecraft are respectively determined. According to the embodiment, the first pulse execution position is arranged at the latitude amplitude angle position closest to the measurement and control station, so that the ground measurement and control station can be ensured to be always in a favorable monitoring condition during the orbit control pulse execution of the spacecraft.
It should be noted that, in this embodiment, the process of performing numerical recurrence of the braked track and the process of calculating the observation elevation angles of the measurement and control station and the alternative track change position by using the differential equation are general ways in the field, and are not described in detail in this embodiment.
For step 106:
in some embodiments, step 106 comprises:
Based on a Homan orbit transfer strategy, calculating a first pulse increment and a second pulse increment of the spacecraft for two times of orbit transfer;
and calculating the pulse execution starting time of the spacecraft for two times of orbit transfer according to the initial pulse increment, the secondary pulse increment and the initial pulse execution middle point.
Considering that the embodiment is mainly aimed at orbital transfer of the spacecraft in the near-circular orbit, in the embodiment of the invention, the Homan orbital transfer strategy is adopted to calculate the altitude adjustment of the near-circular orbit spacecraft, so that the twice orbital transfer pulse increment of the spacecraft can be rapidly obtained, and finally, the orbital control pulse opportunity which is most favorable for measurement and control conditions can be calculated based on the pulse increment and the determined first pulse execution intermediate point.
In some embodiments, the first pulse increment and the second pulse increment are each calculated by the following formula:
in the method, in the process of the invention, For the first pulse increment in question,For the sub-pulse increment in question,Is the constant of the gravitational force of the earth,Is the flat half long axis of the target track,Is the flat half long axis of the current circular track;
The pulse execution starting time of the spacecraft for two times of orbit transfer is calculated by the following modes:
in the method, in the process of the invention, The start-up time is performed for the first pulse of the spacecraft,The start-up time is performed for the spacecraft subpulses,A time intermediate point is performed for the first pulse,Is the specific impulse of the rail-controlled engine,In order to control the thrust of the engine in a track way,For the orbit control initial mass of the spacecraft,Is the average orbit angular rate of the spacecraft.
In summary, in this embodiment, first, by using measurement and control constraints such as the geographical position of the ground surface injection measurement and control area and the longest waiting time of the first pulse, software on the aircraft autonomously calculates the optimal track control start point position, so that the spacecraft has autonomy of completing the track control task, and meanwhile, the ground surface has good observation conditions during track control ignition. Moreover, the method has controllable calculation complexity, is simple and feasible, and can be popularized to the design of the GNC system of the spacecraft with the requirements of autonomous orbit control and ground measurement and control.
As shown in fig. 2 and 3, the embodiment of the invention provides a spacecraft autonomous orbit control device with measurement and control. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. In terms of hardware, as shown in fig. 2, a hardware architecture diagram of a computing device where a spacecraft autonomous orbit control device compatible with measurement and control is located according to an embodiment of the present invention is shown, where in addition to a processor, a memory, a network interface, and a nonvolatile memory shown in fig. 2, the computing device where the device is located in the embodiment may generally include other hardware, such as a forwarding chip responsible for processing a packet, and so on. Taking a software implementation as an example, as shown in fig. 3, as a device in a logic sense, the device is formed by reading a corresponding computer program in a nonvolatile memory into a memory by a CPU of a computing device where the device is located. The embodiment provides a take into account spacecraft autonomous orbit control device of measurement and control, and the device includes:
The acquiring unit 301 is configured to acquire an upper orbit control instruction and an average orbit inclination angle where the spacecraft is currently located; the upper track injection control instruction comprises the height of a target track, the longitude and latitude of a measurement and control station and the longest waiting time of a track control head pulse;
the first calculating unit 302 is configured to calculate a orbit latitude argument corresponding to the measurement and control station according to the longitude and latitude of the measurement and control station and the orbit average inclination angle;
a determining unit 303, configured to determine a first pulse execution middle point of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude angle, and the current position and speed of the spacecraft;
and the second calculating unit 304 is configured to calculate a double pulse execution start time of the spacecraft based on the first pulse execution intermediate point, so that the spacecraft is autonomously orbited from the current orbit to the target orbit.
In an embodiment of the present invention, the obtaining unit 301 may be used to perform the step 100 in the above method embodiment, the first calculating unit 302 may be used to perform the step 102 in the above method embodiment, the determining unit 303 may be used to perform the step 104 in the above method embodiment, and the second calculating unit 304 may be used to perform the step 106 in the above method embodiment.
In one embodiment of the present invention, the first calculating unit 302 is configured to perform the following steps when calculating the orbit latitude argument corresponding to the measurement and control station according to the longitude and latitude of the measurement and control station and the orbit average inclination angle:
calculating the corresponding geocentric latitude according to the latitude of the measurement and control station;
and calculating a orbit latitude amplitude angle corresponding to the latitude of the measurement and control station based on the geocentric latitude and the orbit average inclination angle.
In one embodiment of the present invention, the geocentric latitude in the first calculating unit 302 is calculated by the following formula:
in the method, in the process of the invention, For the geocentric latitude, f is the orbit argument,The latitude of the measurement and control station is;
the orbit latitude amplitude angle is calculated by the following formula:
in the method, in the process of the invention, For the orbital latitude argument,And (5) the average inclination angle of the track.
In one embodiment of the present invention, the determining unit 303 is configured to, when determining the middle point of the first pulse execution of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude, the current position and the speed of the spacecraft, perform the following steps:
performing numerical recurrence on a brakable orbit of the spacecraft within the longest waiting time of the orbit control head pulse according to the current position and the speed of the spacecraft;
According to the numerical recurrence result, taking the corresponding moment and the track position of the spacecraft when passing through the track latitude amplitude angle corresponding to the measurement and control station each time as the alternative track changing moment and the alternative track changing position;
And calculating the observation elevation angles of the measurement and control station and each alternative orbit change position according to the longitude and latitude of the measurement and control station, and respectively determining the alternative orbit change position corresponding to the observation elevation angle closest to 90 degrees and the alternative orbit change time corresponding to the alternative orbit change position as a first pulse execution position and a first pulse execution time middle point of the spacecraft.
In one embodiment of the present invention, the second calculating unit 304 is configured to, when calculating the double pulse execution start time of the spacecraft based on the first pulse execution intermediate point, perform the following operations:
Based on a Homan orbit transfer strategy, calculating a first pulse increment and a second pulse increment of the spacecraft for two times of orbit transfer;
and calculating the pulse execution starting time of the spacecraft for two times of orbit transfer according to the initial pulse increment, the secondary pulse increment and the initial pulse execution middle point.
In one embodiment of the present invention, the first pulse increment and the second pulse increment in the second calculation unit 304 are calculated by the following formulas:
in the method, in the process of the invention, For the first pulse increment in question,For the sub-pulse increment in question,Is the constant of the gravitational force of the earth,Is the flat half long axis of the target track,Is the flat half long axis of the current circular track;
The pulse execution starting time of the spacecraft for two times of orbit transfer is calculated by the following modes:
in the method, in the process of the invention, The start-up time is performed for the first pulse of the spacecraft,The start-up time is performed for the spacecraft subpulses,A time intermediate point is performed for the first pulse,Is the specific impulse of the rail-controlled engine,In order to control the thrust of the engine in a track way,For the orbit control initial mass of the spacecraft,Is the average orbit angular rate of the spacecraft.
It can be understood that the structure illustrated in the embodiment of the invention does not form a specific limitation on the spacecraft autonomous orbit control device which gives consideration to measurement and control. In other embodiments of the invention, a spacecraft autonomous orbit control device that allows for both measurement and control may include more or fewer components than shown, or may combine certain components, or may split certain components, or may have a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.
The content of information interaction and execution process between the modules in the device is based on the same conception as the embodiment of the method of the present invention, and specific content can be referred to the description in the embodiment of the method of the present invention, which is not repeated here.
The embodiment of the invention also provides a computing device, which comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the autonomous orbit control method for the spacecraft, which takes into consideration measurement and control, is realized in any embodiment of the invention.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and when the computer program is executed by a processor, the processor is caused to execute the spacecraft autonomous orbit control method taking the measurement and control into consideration in any embodiment of the invention.
Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD+RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
The embodiment of the application also provides a computer readable storage medium, wherein at least one instruction, at least one section of program, code set or instruction set is stored on the computer readable storage medium, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by a processor so as to realize the autonomous orbit control method for the spacecraft, which is provided by the embodiments of the method and gives consideration to measurement and control.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media in which program code may be stored, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A spacecraft autonomous orbit control method taking measurement and control into consideration is characterized by comprising the following steps:
acquiring an upper track injection control instruction and an average track inclination angle of a current spacecraft; the upper track injection control instruction comprises a target track, longitude and latitude of a measurement and control station and the longest waiting time of a track control head pulse;
Calculating a orbit latitude amplitude angle corresponding to the measurement and control station according to the longitude and latitude of the measurement and control station and the orbit average inclination angle;
Determining a first pulse execution middle point of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude angle and the current position and speed of the spacecraft;
calculating double pulse execution starting time of the spacecraft based on the initial pulse execution middle point so as to enable the spacecraft to autonomously orbit from a current orbit to the target orbit;
The calculating of the orbit latitude amplitude angle corresponding to the measurement and control station according to the longitude and latitude of the measurement and control station and the orbit average inclination angle comprises the following steps:
Calculating the corresponding geocentric latitude according to the latitude of the measurement and control station; the geocentric latitude is calculated by the following formula:
in the method, in the process of the invention, For the geocentric latitude, f is the orbit argument,The latitude of the measurement and control station is;
Calculating a orbit latitude amplitude angle corresponding to the latitude of the measurement and control station based on the geocentric latitude and the orbit average inclination angle; the orbit latitude amplitude angle is calculated by the following formula:
in the method, in the process of the invention, For the orbital latitude argument,An average inclination angle of the track;
the determining the first pulse execution middle point of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude angle, the current position and the current speed of the spacecraft comprises the following steps:
performing numerical recurrence on a brakable orbit of the spacecraft within the longest waiting time of the orbit control head pulse according to the current position and the speed of the spacecraft;
According to the numerical recurrence result, taking the corresponding moment and the track position of the spacecraft when passing through the track latitude amplitude angle corresponding to the measurement and control station each time as the alternative track changing moment and the alternative track changing position;
According to the longitude and latitude of the measurement and control station, calculating the observation elevation angles of the measurement and control station and each alternative orbit change position, and respectively determining the alternative orbit change position corresponding to the observation elevation angle closest to 90 degrees and the alternative orbit change time corresponding to the alternative orbit change position as a first pulse execution position and a first pulse execution time middle point of the spacecraft;
The calculating the double pulse execution start time of the spacecraft based on the first pulse execution middle point comprises the following steps:
Based on a Homan orbit transfer strategy, calculating a first pulse increment and a second pulse increment of the spacecraft for two times of orbit transfer;
and calculating the pulse execution starting time of the spacecraft for two times of orbit transfer according to the initial pulse increment, the secondary pulse increment and the initial pulse execution middle point.
2. The method of claim 1, wherein the first pulse increment and the second pulse increment are each calculated by the following formula:
in the method, in the process of the invention, For the first pulse increment in question,For the sub-pulse increment in question,Is the constant of the gravitational force of the earth,Is the flat half long axis of the target track,Is the flat half long axis of the current circular track.
3. The method according to claim 1, wherein the pulse execution on-times of the two orbits of the spacecraft are respectively calculated by:
in the method, in the process of the invention, The start-up time is performed for the first pulse of the spacecraft,The start-up time is performed for the spacecraft subpulses,A time intermediate point is performed for the first pulse,Is the specific impulse of the rail-controlled engine,In order to control the thrust of the engine in a track way,For the orbit control initial mass of the spacecraft,Is the average orbit angular rate of the spacecraft.
4. A spacecraft autonomous orbit control device taking into account measurement and control is characterized by comprising:
The acquisition unit is used for acquiring the upper track injection control instruction and the average track inclination angle of the current spacecraft; the upper track injection control instruction comprises the height of a target track, the longitude and latitude of a measurement and control station and the longest waiting time of a track control head pulse;
The first calculation unit is used for calculating the orbit latitude amplitude angle corresponding to the measurement and control station according to the longitude and latitude of the measurement and control station and the orbit average inclination angle;
The determining unit is used for determining a first pulse execution middle point of the spacecraft according to the longest waiting time of the orbit control first pulse, the orbit latitude amplitude angle and the current position and speed of the spacecraft;
the second calculation unit is used for calculating double-pulse execution starting time of the spacecraft based on the initial pulse execution middle point so as to enable the spacecraft to autonomously orbit from the current orbit to the target orbit;
The first calculation unit is used for executing the following steps:
Calculating the corresponding geocentric latitude according to the latitude of the measurement and control station; the geocentric latitude is calculated by the following formula:
in the method, in the process of the invention, For the geocentric latitude, f is the orbit argument,The latitude of the measurement and control station is;
Calculating a orbit latitude amplitude angle corresponding to the latitude of the measurement and control station based on the geocentric latitude and the orbit average inclination angle; the orbit latitude amplitude angle is calculated by the following formula:
in the method, in the process of the invention, For the orbital latitude argument,An average inclination angle of the track;
The determining unit is used for executing the following steps:
performing numerical recurrence on a brakable orbit of the spacecraft within the longest waiting time of the orbit control head pulse according to the current position and the speed of the spacecraft;
According to the numerical recurrence result, taking the corresponding moment and the track position of the spacecraft when passing through the track latitude amplitude angle corresponding to the measurement and control station each time as the alternative track changing moment and the alternative track changing position;
According to the longitude and latitude of the measurement and control station, calculating the observation elevation angles of the measurement and control station and each alternative orbit change position, and respectively determining the alternative orbit change position corresponding to the observation elevation angle closest to 90 degrees and the alternative orbit change time corresponding to the alternative orbit change position as a first pulse execution position and a first pulse execution time middle point of the spacecraft;
the second calculation unit is used for executing the following steps:
Based on a Homan orbit transfer strategy, calculating a first pulse increment and a second pulse increment of the spacecraft for two times of orbit transfer;
and calculating the pulse execution starting time of the spacecraft for two times of orbit transfer according to the initial pulse increment, the secondary pulse increment and the initial pulse execution middle point.
5. A computing device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the method of any of claims 1-3 when the computer program is executed.
6. A computer readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the method of any of claims 1-3.
7. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of any of claims 1-3.
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